Output Time Delayed Control System Design Subject to the Mixed Sensitivity Problem

Abstract

This paper presents a design methodology for MIMO output time delayed systems satisfying the mixed sensitivity specification. Nevertheless the procedure is on the basis of the state space approach, it provides a controller with tuneable parameters, which makes the technique useful for practical applications. The key features of the proposed method are its capability to handle multiple time delays and to allow the calculations to be performed as in the time delay free system case. A solution for output time delay unstable system is illustrated with a numerical example.